Nonsmooth Trajectory Generation for a Class of Flat Systems

Application to the Underactuated Axisymmetric Spacecraft

Abstract

The feasible trajectory generation method for the systems with flat outputs by using low order polynominal may result the degradation of the control performance. In this paper, we propose a method of generating the flat outputs trajectories by using the piecewise smooth functions. Moreover, we optimize these trajectories to improve the control performance of the system. We apply our method to the attitude control of the underactuated axisymmetric spacecraft and examine the effectiveness by numerical simulation.